CN212090609U

CN212090609U - Indoor fire-fighting robot

Info

Publication number: CN212090609U
Application number: CN201922315478.4U
Authority: CN
Inventors: 罗嘉俊; 吴国栋; 梁轩豪; 赵硕; 陈墨缘; 陈思睿
Original assignee: East China Jiaotong University
Current assignee: East China Jiaotong University
Priority date: 2019-12-21
Filing date: 2019-12-21
Publication date: 2020-12-08
Anticipated expiration: 2029-12-21

Abstract

An indoor fire-fighting robot is equipped with an indoor fire hydrant, and when a fire breaks out, an indoor smoke alarm sends a fire signal to a fire-fighting robot and a rear worker at the same time. After the fire-fighting robot receives the smoke signal, the central control system starts to work and goes to a fire source according to the signal instruction. The central control system can select a wheel type or crawler type advancing mode and freely switch the two advancing modes according to the actual road conditions. Find fire extinguisher behind the fire source and begin work, simultaneously, explosion-proof camera and infrared flame detector can collect the on-the-spot situation of conflagration and give rear staff in real time, enlarge when the intensity of a fire, and when the fire extinguisher can not effectively eliminate the fire source, the staff can make fire-fighting robot withdraw to artificially install fire hose nearby to this fire-fighting robot on the direct current squirt, this fire-fighting robot alright rescue bigger intensity of a fire. After the fire disaster is over, the worker can take down the fire-extinguishing water-proof pipe, maintain the fire-extinguishing water-proof pipe, replace the fire-extinguishing pipe and return to the original place.

Description

Indoor fire-fighting robot

Technical Field

The utility model relates to a fire-fighting robot especially relates to an indoor fire-fighting robot who puts out a fire at conflagration initial stage.

Background

The fire-fighting robot is a special robot, and plays a role in putting a great deal of weight in fire extinguishing and emergency rescue. The fire-fighting robot generally comprises an explosion-proof investigation fire-fighting robot, a large-flow fire-fighting robot and the like.

At present, all common fire-fighting robots are large and medium-sized robots which are transported to a fire scene along with a fire engine and are directly controlled by a fireman scene, and the fire-fighting robots work outside a building and often assist the fire engine to increase water pressure so as to achieve the effect of extinguishing fire with higher strength. There is also a small-sized fire-fighting robot capable of replacing the fire fighter to enter the building, which can largely guarantee the life safety of the fire fighter, as in patent CN201520776639.9, but the fire-fighting range is greatly limited by the rescue mode of supplying water by the fire fighting truck. The development of a fire is generally divided into four stages: initial, development, hard burn and extinction phases. In the initial stage, the combustion range of the fire is not large, the building is not combusted, the combustion is limited to be near the initial ignition point, and the spread speed of the fire is slow; in the development stage, the fire range is rapidly expanded, the combustible decoration of the building is rapidly expanded from local combustion, and the temperature is rapidly increased. Therefore, if the fire source can be eliminated in time at the initial stage of the fire, the fire fighting work can be done twice with half the effort, and the huge loss of lives and properties can be reduced. However, most of the existing fire-fighting robots are transported to a fire scene from a fire department by a fire truck, traffic jam and roads are narrow, and the situation that a large fire truck is difficult to pass often happens, so that when a fireman drives to the fire scene, the fire is expanded, a small fire source becomes bear fire, and the fire-fighting work is very difficult at the moment. The problems of large blind area, small water source, single fire fighting mode and the like exist in the existing indoor fire fighting equipment such as a fire fighting spray head, and the fire behavior is expanded. Therefore, there is a need for an indoor fire-fighting robot to solve the problem of extinguishing fire sources in buildings in time.

SUMMERY OF THE UTILITY MODEL

In order to overcome the background art fire-fighting robot rescue in time inadequately, be difficult to get into in the building and fire sprinkler head have a series of problems such as blind area, the utility model provides a mainly be equipped with in the fire-fighting robot of indoor environment such as warehouse, market, office building and mill for reach the purpose of in time putting out a fire at indoor conflagration initial stage.

The utility model discloses a realize like this: an indoor fire fighting robot is equipped with an indoor fire hydrant, and when a fire breaks out, an indoor fire alarm sends smoke signals to the fire fighting robot and rear workers at the same time. After the fire-fighting robot receives the smoke signal, the central control system starts to operate, and the fire-fighting robot goes to a fire source place according to the signal indication. The central control system can select a wheel type or crawler type advancing mode and freely switch the two advancing modes according to the actual road conditions. Find fire extinguisher behind the fire source and begin work, simultaneously, AI camera and thermal infrared imager can collect the on-the-spot situation of conflagration and give rear staff in real time, and when the intensity of a fire enlarges, the fire extinguisher can not effectively eliminate the fire source, and the staff can make fire-fighting robot withdraw to artificially install the fire hose nearby on this fire-fighting robot's direct current squirt, this fire-fighting robot alright rescue bigger intensity of a fire. After the conflagration finishes, the staff alright take off fire hose, maintain and change the fire extinguisher to it to get back to the original place.

The utility model provides a wheel-track switching mechanism, wheel-track can be freely switched by central control system according to actual road conditions, adopts wheeled the advancing when the level land to ensure to reach faster speed, obey the theory of energy-concerving and environment-protective simultaneously, and when meetting obstacles such as step and stair, this fire-fighting robot chassis can be the formula structure of caterpillar, thereby can walk up and down stairs and stride across the obstacle steadily. The two advancing modes fully combine the advantages of the wheel type structure and the crawler type structure to adapt to various indoor terrains. Fire-fighting robot is equipped with explosion-proof camera and thermal infrared imager for the concrete position of monitoring and pursuit fire disaster, and give rear staff with the scene of fire situation real-time transmission. Fire-fighting robot is equipped with direct current squirt and angle of elevation adjustment mechanism, fire extinguisher and switch and angle of elevation adjustment mechanism thereof, and two kinds of different modes of putting out a fire can be selected according to actual conditions, and wherein the fire extinguisher can select foam fire extinguisher or carbon dioxide fire extinguisher etc. according to the actual application place.

The utility model provides a technical problem adopt following technical scheme:

an indoor fire-fighting robot, characterized in that: an indoor fire-fighting robot comprises a motion system, a fire source detection system, a fire extinguishing system and a central control system. The moving system is composed of a front wheel 11, a front wheel support rod 10, a front crawler 52, a rear crawler 1, a deformable hub 2, a hub hydraulic rod 3, a main axle 12, a driving motor 20 and a frame 24. The driving motor 20 is fixed on a frame 24, the main axle 12 is mounted on the frame 24 through a bearing, and the driving motor 20 is connected with the main axle 12 through a belt 19. The deformable hub 2 comprises hub plate arcs 51, spokes 4 and an axle coupling 5, the deformable hub 2 and the hub hydraulic rod 3 are connected through pins and are both connected to the main axle 12, and the hub hydraulic rod 3 and the main axle 12 are connected through bearings. The rear shoe 1 is mounted on a deformable hub 2. The motion system further comprises a front crawler wheel 49, a rear crawler wheel 6, a front axle 13, a rear axle 14, a secondary hydraulic rod 25 and a push shaft slide block 17. The secondary hydraulic rod 25 is fixed on the frame 24, the push shaft slide block 17 is installed on the frame 24 and connected to the telescopic end of the secondary hydraulic rod 25, the front axle 13 and the rear axle 14 are respectively fixed on the front push shaft slide block 17 and the rear push shaft slide block 17, and the front crawler wheel 49 and the rear crawler wheel 6 are respectively connected on the front axle 13 and the rear axle 14 through bearings. The motion system also includes a main shaft gear 15, a front shaft gear 16, a gear set 17, a lead screw I18, a guide rail 22 and a motor I23. The main shaft gear 15 is fixed on the main axle 12, the front shaft gear 16 is fixed on the front axle 13, the motor I23 and the lead screw I18 are fixed on the frame 24, and the gear set 17 is installed on the guide rail 22 and is in threaded connection with the lead screw I18. The frame 24 is mounted with a tertiary hydraulic rod 26, and the telescopic end of the tertiary hydraulic rod 26 is connected to the axle coupling 5 through a thrust bearing 21.

Preferably, the fire detection system includes an AI camera 28 and a thermal infrared imager 29, both of which are mounted on the vehicle body 27 for monitoring the fire scene situation in real time and transmitting it to the rear workers via a network.

Preferably, the fire suppression system includes a fire extinguisher tank 36 and a direct flow water gun 30. The fire extinguisher box 36 is located inside the vehicle body 27 and comprises a fire extinguisher 34, a base 50, a guide rod I47, a lead screw III37, a slide block I33, a shifting piece 40, a worm gear 35, a spray pipe 38 and a motor III 53. The fire extinguisher 34, the motor III53, the guide rod I47 and the lead screw III37 are installed on the base 50, wherein the motor III53 is connected with the lead screw III37, the poking piece 40 and the sliding block I33 are installed on the guide rod I47, the sliding block I33 is in threaded connection with the lead screw III37, and the spray pipe 38 is connected with a spray head of the fire extinguisher 34 and is connected with the worm gear 35. The direct-flow water gun 30 is provided with an angle adjusting device which comprises a guide rod II36, a connecting rod 31, a lead screw II32, a sliding block II55 and a motor II 48. The guide rod II36 and the motor II48 are fixed on the vehicle body 27, the lead screw II32 is connected to the motor II48, the sliding block II55 is installed on the guide rod II36 and is in screw connection with the lead screw II32, and the connecting rod 31 is connected between the direct-flow water gun 30 and the sliding block II 55.

Preferably, the tail end of the indoor fire-fighting robot is provided with a telescopic support frame 39 which can extend and prop against the ground when the robot works to offset recoil of the direct-current water gun 30.

The utility model has the advantages that: (one) the utility model discloses fire-fighting robot is equipped with in indoorly, is different from in the past at the fire control army, and this section fire-fighting robot can carry out fire control rescue work in the very first time when consequently taking place the conflagration, reaches the purpose of in time putting out a fire at indoor conflagration initial stage to reduce life safety loss. The chassis of the fire-fighting robot adopts a wheel-track switching mechanism, so that the chassis can adapt to various terrains, and particularly provides great help for going upstairs and downstairs. And the two running modes of the wheel and the track all adopt the same set of power output system, so that the manufacturing cost is reduced, the internal space of the chassis is greatly reduced, and the structure is more compact.

Drawings

Fig. 1 is a schematic axial view of the present invention.

Fig. 2 is a schematic view of the structure of the present invention.

Fig. 3 is a schematic side view of the present invention.

Fig. 4 is a perspective view of the wheel-type traveling structure of the present invention.

Fig. 5 is a plan view of the wheel type traveling structure of the present invention.

Fig. 6 is a side view of the wheel type traveling structure of the present invention.

Fig. 7 is a perspective view of the crawler travel structure of the present invention.

Fig. 8 is a top view of the crawler travel structure of the present invention.

Fig. 9 is a side view of the crawler travel structure of the present invention.

Fig. 10 is a schematic view of a wheel-track changing structure of the present invention.

Fig. 11 is a rear wheel structure change diagram of the present invention.

Fig. 12 is a structural diagram of the direct-flow water gun of the present invention.

Fig. 13 is a structural view of the fire extinguisher cabinet of the present invention.

Fig. 14 is a schematic diagram of the switch control of the fire extinguisher according to the present invention.

Fig. 15 is a rear wheel structure view of the present invention.

1. Description of the reference figures: 1-rear track; 2-a deformable hub; 3-a hub hydraulic rod; 4-spokes; 5-axle coupling; 6-rear crawler wheel; 7-pushing the shaft slide block; 8-a rocker; 9-small crawler wheels; 10-front wheel support bar; 11-front wheel; 12-a main axle; 13-front axle; 14-rear axle; 15-main shaft gear; 16-front axle gear; 17-gear set; 18-screw mandrel I; 19-a belt; 20-a drive motor; 21-a thrust bearing; 22-a guide rail; 23-motor I; 24-a frame; 25-a secondary hydraulic lever; 26-a tertiary hydraulic rod; 27-a vehicle body; 28-AI camera; 29-infrared thermal imager; 30-a direct flow water gun; 31-a connecting rod; 32-lead screw II; 33-a slide block I; 34-a fire extinguisher; 35-a worm gear; 36-fire extinguisher cabinet; 37-lead screw III; 38-nozzle 38; 39-a support frame; 40-plectrum; 41-fire extinguisher switch; 42-spline hubs; 43-a coupling sleeve; 44-dental inlay I; 45-dental inlay II; 46-guide bar II; 47-guide bar I; 48-motor II; 49-front crawler wheels; 50-a base; 51-hub plate arc; 52-front track; 53-motor III; 54-a steering engine; 55-slider II

Detailed Description

The present invention will be further explained with reference to the drawings and examples. It is to be understood that the description of the embodiments herein is for purposes of illustration and explanation only and is not intended to limit the invention.

In the present invention, without being described in a contrary way, the terms of direction such as "upper, lower, left, right, front, and rear" used in the present invention generally refer to the upper, lower, left, right, front, and rear of the body of the indoor fire-fighting robot, and "inner, outer" refers to the inner and outer portions of the body contour, as shown in fig. 2, it is the front view of the indoor fire-fighting robot, i.e., the front of the indoor fire-fighting robot.

An indoor fire-fighting robot, characterized in that: an indoor fire-fighting robot comprises a motion system, a fire source detection system, a fire extinguishing system and a central control system. The moving system is composed of a front wheel 11, a front wheel support rod 10, a front crawler 52, a rear crawler 1, a deformable hub 2, a hub hydraulic rod 3, a main axle 12, a driving motor 20 and a frame 24. The driving motor 20 is fixed on a frame 24, the main axle 12 is mounted on the frame 24 through a bearing, and the driving motor 20 is connected with the main axle 12 through a belt 19. The deformable hub 2 comprises hub plate arcs 51, spokes 4 and an axle coupling 5, the deformable hub 2 and the hub hydraulic rod 3 are connected through pins and are both connected to the main axle 12, and the hub hydraulic rod 3 and the main axle 12 are connected through bearings. The rear shoe 1 is mounted on a deformable hub 2. The motion system further comprises a front crawler wheel 49, a rear crawler wheel 6, a front axle 13, a rear axle 14, a secondary hydraulic rod 25 and a push shaft slide block 17. The secondary hydraulic rod 25 is fixed on the frame 24, the push shaft slide block 17 is installed on the frame 24 and connected to the telescopic end of the secondary hydraulic rod 25, the front axle 13 and the rear axle 14 are respectively fixed on the front push shaft slide block 17 and the rear push shaft slide block 17, and the front crawler wheel 49 and the rear crawler wheel 6 are respectively connected on the front axle 13 and the rear axle 14 through bearings. The motion system also includes a main shaft gear 15, a front shaft gear 16, a gear set 17, a lead screw I18, a guide rail 22 and a motor I23. The main shaft gear 15 is fixed on the main axle 12, the front shaft gear 16 is fixed on the front axle 13, the motor I23 and the lead screw I18 are fixed on the frame 24, and the gear set 17 is installed on the guide rail 22 and is in threaded connection with the lead screw I18.

Preferably, a tertiary hydraulic rod 26 is mounted on the frame 24, and a telescopic end of the tertiary hydraulic rod 26 is connected to the axle coupling 5 through a thrust bearing 21. The three-stage hydraulic rod 26 can drive the axle coupling 5 to move in the left-right direction along the main axle 12 through the thrust bearing 21, and the upper and lower hub plate arcs 51 of the axle coupling 5 can be controlled to extend and retract up and down through the spokes 4.

Preferably, the secondary hydraulic rod 25 can drive the front axle 13 and the front crawler wheels 49 and the rear axle 14 and the rear crawler wheels 6 to move along the frame 24 in the front-rear direction through the push shaft slider 17.

Preferably, the telescopic end of the hub hydraulic rod 3 is connected with the deformable hub 2, and the hub hydraulic rod 3 can drive the hub plate arcs 51 on the two sides to be telescopic in the front-back direction.

Preferably, the axle coupler 5 is connected with the hub hydraulic rod 3 through a jaw clutch structure, a jaw inlay I44 is arranged at the outer end of the axle coupler 5, a jaw inlay II45 is arranged at the inner end of the hub hydraulic rod 3, the axle coupler 5 is connected with the main axle 12 through a spline, a spline hub 42 is arranged on the main axle 12, and a joint sleeve 43 is arranged on the axle coupler 5.

Preferably, the motor I23 can drive the lead screw I18 to rotate, thereby controlling the gear set 17 to move along the guide rail 22 in the left-right direction.

Preferably, the front track 52 is connected to the frame 24 through the rocker 8, the front wheel 11 is connected to the small track wheel 9 through the front wheel support rod 10, and the steering engine 54 can drive the front wheel support rod 10 to rotate around the small track wheel 9.

Preferably, the motion system comprises two traveling modes, namely a wheel type traveling mode and a crawler type traveling mode, and the two traveling modes can be freely selected according to actual road conditions. When the indoor fire-fighting robot is in a wheeled state (as shown in fig. 3), the hub hydraulic rod 3 is contracted, the tertiary hydraulic rod 26 is extended, the axle coupling 5 is located at the outermost end of the main axle 12, the engaging sleeve 43 on the axle coupling 5 is engaged with the spline hub 42 on the main axle 12, and the upper jaw I44 thereof is engaged with the jaw II45 on the hub hydraulic rod 3. At this time, the transformable hub 2 is circular, and the rear shoe 1 is in a tire state in close contact with the hub segment arc 51. The secondary hydraulic rod 25 contracts, and the front crawler wheel 49 and the rear crawler wheel 6 move toward the center. The gear set 17 is positioned in the middle of the lead screw I18 and is disengaged from the front shaft gear 16 and the main shaft gear 15. The front wheel support rod 10 is vertical to the front crawler 52, and the front wheel 11 is contacted with the ground. The beneficial effects are as follows: the driving motor 20 drives the main axle 12 to rotate through the belt 19, the main axle 12 transmits power to the axle coupler 5 through the spline hub 42, the axle coupler 5 directly transmits part of the power to the hub plate arc 51 through the spoke 4, simultaneously transmits part of the power to the hub hydraulic rod 3 through the jaw clutch mechanism, the hub hydraulic rod 3 transmits the power to the hub plate arc 51 again, and in this state, the deformable hub 2 and the rear track 1 rotate together to move in a wheel type.

Preferably, when the fire-fighting robot becomes crawler-type (as shown in fig. 7), the hub hydraulic rod 3 is extended to drive the two side hub plate arcs 51 to move outwards, the three-stage hydraulic rod 26 is contracted to drive the axle coupler 5 to move towards the inside of the vehicle body 27 along the main axle 12 through the thrust bearing 21, the axle coupler 5 drives the upper and lower hub plate arcs 51 to approach towards the middle through the spokes 4, and at the moment, the axle coupler 5 is disengaged from the spline hub 42 of the main axle 12 and the jaw II45 of the hub hydraulic rod 3, so that the deformable hub 2 is in a state of being flat up and down and two sides are elongated; at the same time, the secondary hydraulic rod 25 extends, and the front axle 13 and the front crawler wheel 49 and the rear axle 14 and the rear crawler wheel 6 are pushed by the front and rear push shaft sliders 7 to move to both sides. The whole effect is as follows: the tension of the rear crawler 1 on the deformable hub 2 is gradually reduced until the rear crawler 1 is separated from the deformable hub 2 and clings to the front crawler wheels 49 and the rear crawler wheels 6, and the rear crawler 1 is oblong. Meanwhile, the motor I23 drives the lead screw I18 to rotate, and the lead screw I18 rotates to drive the gear set 17 to move towards two sides until the gear set is respectively meshed with the main shaft gear 15 and the front shaft gear 16. Meanwhile, the steering engine 54 drives the front wheel support rod 10 to rotate, the front wheel support rod 10 retracts backwards until the front wheel 11 is separated from the ground, and the front crawler 52 is in contact with the ground. The beneficial effects are as follows: the driving motor 20 drives the main axle 12 to rotate through the belt 19, the main axle 12 drives the main axle gear 15 to rotate together, the main axle gear 15 transmits power to the front axle gear 16 through the gear set 17, the front axle gear 16 drives the front crawler wheel 49 to rotate through the front axle 13, the front crawler wheel 49 drives the rear crawler 1 to rotate, and crawler type traveling is performed in the state.

Preferably, the wheel-track switching signal is completed through an electromagnetic wave radar and an AI camera 28, both of which are fixed on the vehicle body 27, the electromagnetic wave radar has the advantages of being fast in transmission speed and not prone to receiving and interfering, the electromagnetic wave radar can determine an obstacle in front of the fire-fighting robot by transmitting and receiving electromagnetic waves, and intelligently distinguishes and detects the obstacle in a front picture and tracks movement in real time through the AI camera 28, so that a result is obtained, and whether the fire-fighting robot should perform wheel-track switching or not is judged.

Preferably, the fire source detection system is implemented by the thermal infrared imager 29 and the AI camera 28, and is used for searching the specific location of the fire source, monitoring the situation of the fire scene in real time and transmitting the situation to the rear staff through a network. The thermal infrared imager 29 segments the image by using the temperature characteristics of the infrared image through a computer algorithm, in the infrared image, objects with high heat are shown as high brightness, objects with low temperature are shown as dim, and the high brightness area can be found out through target segmentation and is listed as a suspicious target area. And applying Blob marks to the segmented images and extracting to obtain the target area. A Lucas-Kanade optical flow method is applied to extract dynamic characteristics of a target area, and the method is characterized in that the variation of the intensity of pixel points along with time is used for representing the movement speed and direction of an object, and a sectional mean value method is provided for the optical flow characteristics to detect a fire source from the target area.

Preferably, the fire suppression system includes a fire extinguisher tank 36 and a direct flow water gun 30. The fire extinguisher box 36 is located inside the vehicle body 27 and comprises a fire extinguisher 34, a base 50, a guide rod I47, a lead screw III37, a slide block I33, a shifting piece 40, a worm gear 35, a spray pipe 38 and a motor III 53. The fire extinguisher 34, the motor III53, the guide rod I47 and the lead screw III37 are installed on the base 50, wherein the motor III53 is connected with the lead screw III37, the poking piece 40 and the sliding block I33 are installed on the guide rod I47, the sliding block I33 is in threaded connection with the lead screw III37, and the spray pipe 38 is connected with a spray head of the fire extinguisher 34 and is connected with the worm gear 35. The direct-flow water gun 30 is provided with an angle adjusting device which comprises a guide rod II36, a connecting rod 31, a lead screw II32, a sliding block II55 and a motor II 48. The guide rod II46 and the motor II48 are fixed on the vehicle body 27, the lead screw II32 is connected to the motor II48, the sliding block II55 is installed on the guide rod II46 and is in screw connection with the lead screw II32, and the connecting rod 31 is connected between the direct-flow water gun 30 and the sliding block II 55.

Preferably, the fire suppression system includes a fire extinguisher tank 36 and a direct flow water gun 30. When the fire extinguisher 34 works, the motor III53 drives the screw rod III37 to rotate, the screw rod III37 drives the upper sliding block I33 to move forwards, the sliding block I33 dials the poking piece 40 to rotate, the poking piece 40 rotates to press the fire extinguisher switch 41 on one side, and the fire extinguisher 34 starts to spray related fire-fighting liquid and sprays the fire-fighting liquid outwards along the spray pipe 38. The worm gear 35 can drive the spray pipe 38 to rotate under the driving of the motor III53, and the spraying angle of the spray pipe 38 is adjusted. When the direct-flow water gun 30 works, a fire hose needs to be manually connected to a rear end interface of the direct-flow water gun 30, the motor II48 can drive the screw II32 to rotate, the screw II32 rotates to drive the sliding block II55 to move back and forth, and the sliding block II55 drives the direct-flow water gun 30 to rotate through the connecting rod 31 to adjust the water spraying angle of the direct-flow water gun 30.

The working principle of the indoor fire-fighting robot is as follows: the central control system is connected with an indoor fire alarm, and when the fire alarm sends smoke signals to the central control system of the fire-fighting robot, the central control system controls the driving motor 20 to work and sends the smoke signals to a fire source according to the given signals. The central control system can freely switch between the wheeled and tracked traveling modes according to the actual road conditions detected by the electromagnetic wave radar and the AI camera 28. The thermal infrared imager 29 can feed back the specific position of the locked fire source to the central control system, and adjust the spraying angle of the spraying pipe 38 by controlling the motor in the fire extinguishing system, so as to achieve accurate extinguishing of the fire source, and the AI camera 28 can also send the fire scene condition monitored by the fire source detection system in real time to the rear staff, so that the staff can make corresponding preparations. When the fire is too big, the staff can command the fire-fighting robot to temporarily withdraw and connect the fire-fighting water pipe to the direct-current water gun 30, so as to improve the fire-fighting efficiency.

The above, only do the utility model discloses a preferred embodiment, it is not right the utility model discloses do any restriction, all according to the utility model discloses the technical entity all belongs to any simple modification, change and equivalent structure transform that the above embodiment was done the utility model discloses technical scheme's within range of protection.

Claims

1. An indoor fire-fighting robot, characterized in that: the indoor fire-fighting robot comprises a motion system, a fire source detection system, a fire extinguishing system and a central control system, wherein the motion system consists of a front wheel (11), a front wheel support rod (10), a front track (52), a rear track (1), a deformable hub (2), a hub hydraulic rod (3), a main axle (12), a driving motor (20) and a frame (24), the driving motor (20) is fixed on the frame (24), the main axle (12) is installed on the frame (24) through a bearing, the driving motor (20) is connected with the main axle (12) through a belt (19), the deformable hub (2) comprises a hub sheet arc (51), spokes (4) and an axle coupler (5), the deformable hub (2) and the hub hydraulic rod (3) are connected through pins and are both connected to the main axle (12), and the hub hydraulic rod (3) is connected with the main axle (12) through a bearing, the rear crawler belt (1) is arranged on the deformable hub (2), the moving system further comprises a front crawler wheel (49), a rear crawler wheel (6), a front axle (13), a rear axle (14), a secondary hydraulic rod (25) and a push shaft sliding block (7), the secondary hydraulic rod (25) is fixed on the frame (24), the push shaft sliding block (7) is arranged on the frame (24) and connected to the telescopic end of the secondary hydraulic rod (25), the front axle (13) and the rear axle (14) are respectively fixed on the front push shaft sliding block and the rear push shaft sliding block (7), the front crawler wheel (49) and the rear crawler wheel (6) are respectively connected on the front axle (13) and the rear axle (14) through bearings, the moving system further comprises a main shaft gear (15), a front shaft gear (16), a gear set (17), a lead screw I (18), a guide rail (22) and a motor I (23), the main shaft gear (15) is fixed on the main axle (12), the front axle gear (16) is fixed on a front axle (13), the motor I (23) and the lead screw I (18) are fixed on a frame (24), and the gear set (17) is installed on the guide rail (22) and is in threaded connection with the lead screw I (18).

2. An indoor fire-fighting robot as defined in claim 1, wherein: the vehicle frame (24) is provided with a three-level hydraulic rod (26), the telescopic end of the three-level hydraulic rod (26) is connected with a vehicle axle coupler (5) through a thrust bearing (21), the three-level hydraulic rod (26) can drive the vehicle axle coupler (5) to move in the left and right directions along a main vehicle axle (12) through the thrust bearing (21), the vehicle axle coupler (5) can control upper and lower hub blade arcs (51) to extend and retract up and down through spokes (4), the secondary hydraulic rod (25) can drive a front vehicle axle (13) and a front track wheel (49) as well as a rear vehicle axle (14) and a rear track wheel (6) to move in the front and rear directions along the vehicle frame (24) through a thrust sliding block (7), the telescopic end of the hub hydraulic rod (3) is connected with a deformable hub (2), the hub hydraulic rod (3) can drive the hub blade arcs (51) on two sides to extend and retract in the front and rear directions, the vehicle axle coupler (5) is connected with the hub hydraulic rod (3) through a tooth-embedded clutch structure, the bicycle axle coupling is characterized in that a tooth inlay I (44) is arranged at the outer end of the bicycle axle coupling (5), a tooth inlay II (45) is arranged at the inner end of the wheel hub hydraulic rod (3), the bicycle axle coupling (5) is connected with a main bicycle axle (12) through splines, a spline hub (42) is arranged on the main bicycle axle (12), a joint sleeve (43) is arranged on the bicycle axle coupling (5), a motor I (23) can drive a lead screw I (18) to rotate, so that a gear set (17) is controlled to move in the left and right directions along a guide rail (22), a front crawler (52) is connected onto a bicycle frame (24) through a rocker (8), a front wheel (11) is connected onto a small crawler wheel (9) through a front wheel support rod (10), and a steering engine (54) can drive the front wheel support rod (10) to rotate around the small crawler wheel (9.

3. An indoor fire-fighting robot as defined in claim 1, wherein: the motion system comprises two advancing modes of a wheel type and a crawler type, the two advancing modes can be freely selected according to actual road conditions, when the indoor fire-fighting robot is in a wheel type state, the hub hydraulic rod (3) contracts, the three-stage hydraulic rod (26) extends, the axle coupler (5) is positioned at the outermost end of the main axle (12), the joint sleeve (43) on the axle coupler (5) is combined with the spline hub (42) on the main axle (12), the upper tooth inlay body I (44) is combined with the tooth inlay body II (45) on the hub hydraulic rod (3), at the moment, the deformable hub (2) is circular, the rear crawler wheel (1) is tightly attached to the hub arc (51) and is in a tire state, the secondary crawler wheel (25) contracts, the front crawler wheel (49) and the rear crawler wheel (6) move towards the middle, the gear set (17) is positioned in the middle of the lead screw I (18) and is disengaged from the front axle gear (16) and the main axle gear (15), the front wheel support rod (10) is perpendicular to the front crawler belt (52), the front wheel (11) is in contact with the ground, the driving motor (20) drives the main axle (12) to rotate through the belt (19), the main axle (12) transmits power to the axle coupler (5) through the spline hub (42), the axle coupler (5) directly transmits part of the power to the hub plate arc (51) through the spoke (4), simultaneously transmits part of the power to the hub hydraulic rod (3) through the jaw clutch mechanism, the hub hydraulic rod (3) transmits the power to the hub plate arc (51) again, and in the state, the deformable hub (2) and the rear crawler belt (1) rotate together and move in a wheel type.

4. An indoor fire-fighting robot as defined in claim 3, wherein: when the fire-fighting robot changes into crawler motion, the hub hydraulic rod (3) extends to drive the hub sheet arcs (51) at two sides to move outwards, the three-stage hydraulic rod (26) contracts to drive the axle coupling (5) to move towards the interior of the vehicle body (27) along the main axle (12) through the thrust bearing (21), the axle coupling (5) drives the upper and lower hub sheet arcs (51) to approach towards the middle through the spokes (4), and at the moment, the axle coupling (5) is separated from and combined with the spline hub (42) of the main axle (12) and the tooth embedding body II (45) of the hub hydraulic rod (3), so that the deformable hub (2) is flat up and down and two sides are elongated; meanwhile, the secondary hydraulic rod (25) extends, and the front axle (13) and the front crawler wheel (49) as well as the rear axle (14) and the rear crawler wheel (6) are pushed to move towards two sides through the front and rear push shaft sliding blocks (7), so that the whole effect is as follows: the tension of the rear crawler belt (1) on the deformable hub (2) is gradually reduced until the rear crawler belt is separated from the deformable hub (2) and is tightly attached to the front crawler belt wheel (49) and the rear crawler belt wheel (6), the rear crawler belt (1) is in a long circle shape, meanwhile, the motor I (23) drives the screw I (18) to rotate, the screw I (18) rotates to drive the gear set (17) to move towards two sides until the screw I is respectively meshed with the spindle gear (15) and the front shaft gear (16), meanwhile, the steering engine (54) drives the front wheel support rod (10) to rotate, the front wheel support rod (10) retracts backwards until the front wheel (11) is separated from the ground, the front crawler belt (52) is contacted with the ground, the main spindle gear (12) drives the spindle gear (15) to rotate together, the spindle gear (15) transmits power to the front shaft gear (16) through the gear set (17), and the front shaft gear (16) drives the front crawler belt wheel (49) to rotate through the front, the front crawler wheels (49) drive the rear crawler (1) to rotate, and the crawler travels in this state.

5. An indoor fire-fighting robot as defined in claim 1, wherein: the fire extinguishing system comprises a fire extinguisher box (36) and a direct-current water gun (30), wherein the fire extinguisher box (36) is positioned inside a vehicle body (27) and comprises a fire extinguisher (34), a base (50), a guide rod I (47), a lead screw III (37), a sliding block I (33), a stirring sheet (40), a worm gear (35), a spray pipe (38) and a motor III (53), the fire extinguisher (34), the motor III (53), the guide rod I (47) and the lead screw III (37) are all installed on the base (50), the motor III (53) is connected with the lead screw III (37), the stirring sheet (40) and the sliding block I (33) are installed on the guide rod I (47), the sliding block I (33) is in spiral connection with the lead screw III (37), the spray pipe (38) is connected with a spray head of the fire extinguisher (34) and is connected with the worm gear (35), and the direct-current water gun (30) is provided with a, including guide arm II (46), connecting rod (31), lead screw II (32), slider II (55) and motor II (48), guide arm II (46) and motor II (48) are fixed on automobile body (27), and lead screw II (32) are connected on motor II (48), and slider II (55) are installed on guide arm II (46) and with lead screw II (32) screwed connection, connecting rod (31) are connected between direct current squirt (30) and slider II (55).

6. An indoor fire-fighting robot as defined in claim 5, wherein: when the fire extinguisher (34) works, the motor III (53) drives the lead screw III (37) to rotate, the lead screw III (37) drives the upper sliding block I (33) to move forwards, the sliding block I (33) dials the poking piece (40) to rotate, the poking piece (40) rotates to press the fire extinguisher switch (41) on one side, the fire extinguisher (34) starts to spray related fire-fighting liquid and sprays the fire-fighting liquid outwards along the spray pipe (38), the worm gear (35) can drive the spray pipe (38) to rotate under the drive of the motor, the spray angle of the spray pipe (38) is adjusted, when the direct-flow water gun (30) works, a fire-fighting water pipe needs to be manually connected to the rear end port of the direct-flow water gun (30), the motor II (48) can drive the lead screw II (32) to rotate, the lead screw II (32) rotates to drive the sliding block II (55) to move back and forth, the sliding block II (55) drives, the water spraying angle of the straight-flow water gun (30) is adjusted.